root / branches / autonomous_recharging / code / projects / libbayboard / homing.c @ 850
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1 | 833 | emullini | /**
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2 | * Copyright (c) 2008 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | /**
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27 | * @file homing.c
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28 | * @brief Contains declarations for managing the orbs.
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29 | *
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30 | * Contains declarations for using the orbs and PWM.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | **/
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34 | 832 | emullini | //carrier for beacons is on blue timer
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35 | //manually defined ISRs
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36 | //high frequency = 200Hz
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37 | //TIMER1_OVF_vect
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38 | //enable overflow interrupts
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39 | #include <avr/interrupt.h> |
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40 | #include <avr/io.h> |
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41 | #include "orb.h" |
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42 | #include "serial.h" |
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43 | |||
44 | 850 | emullini | volatile int state = 0; |
45 | volatile int orbstate = 0; |
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46 | 832 | emullini | |
47 | 833 | emullini | void IR_init(void){ |
48 | 832 | emullini | |
49 | 850 | emullini | |
50 | 832 | emullini | DDRA |= _BV(DDA0)|_BV(DDA1); |
51 | DDRB |= _BV(DDB3); |
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52 | |||
53 | 850 | emullini | sei(); |
54 | 832 | emullini | |
55 | TIMSK1 |= _BV(TOIE1); |
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56 | |||
57 | TCCR0A |= _BV(COM0A1)|_BV(COM0A0)|_BV(WGM01)|_BV(WGM00); |
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58 | TCCR0B |= _BV(CS00); |
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59 | 833 | emullini | OCR0A = 0x80;
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60 | 832 | emullini | |
61 | TCCR1A |= _BV(COM1B1)|_BV(COM1B0)|_BV(WGM11); |
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62 | TCCR1B |= _BV(WGM13)|_BV(WGM12)|_BV(CS10); |
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63 | 850 | emullini | ICR1 = 0x9C40;
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64 | orb_init(); |
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65 | 832 | emullini | |
66 | |||
67 | } |
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68 | |||
69 | ISR(TIMER1_OVF_vect){ |
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70 | 850 | emullini | state = (state+1)%4; |
71 | PORTA |= state; |
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72 | set_orb(255*orbstate, 255*orbstate, 255*orbstate); |
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73 | orbstate = (orbstate+1)%2; |
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74 | 832 | emullini | |
75 | |||
76 | } |